# US 11,440,187 B1 · Collaborative workflow for laborer and robotic system to automate wire pulling in construction sites > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,187 B1 - Document ID: US11440187B1 - Status: Granted - Kind: B1 - Application number: 17/571,489 - Filed: 2022-01-09 - Granted: 2022-09-13 - Earliest claimed: 2021-04-14 - Applicants: Moshe Shapiro; David Klein - Inventors: Moshe Shapiro; David Klein - Web page: https://patentgrep.com/patent/US11440187B1 ## CPC - B25J 5/007: {mounted on wheels} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 11/005: {Manipulators for mechanical processing tasks} - G05B 2219/40298: Manipulator on vehicle, wheels, mobile - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robotic system includes a plurality of robotic systems, each mounted by a plurality of sensors and SW processors all enabling arm manipulation to automate a construction process and/or navigating and/or maneuvering in a construction site. The system can interact with a centralized backend algorithm, which has access to the construction site's digital building plan from which a route on which the robots must be dropped off is deduced. The route may be displayed to a laborer, walking through the site according to the route, who can deploy the robots to perform their automated construction task. ## Claims ### Claim 1 A system comprising: at least one robot comprising a maneuvering assembly that comprises at least one actuator and at least one sensor coupled to a processor for maneuvering said at least one robot at a construction site; an electrical wire pulling unit coupled to said robot, wherein said processor is configured to control said electrical wire pulling unit to pull electrical wire from one place to another place in said construction site to another. ### Claim 2 (depends on 1) The system according to claim 1, wherein said processor defines a route along which said at least one robot moves at said construction site. ### Claim 3 (depends on 2) The system according to claim 2, wherein said processor defines said route by optimizing said route to reduce time of travel of said at least one robot. ### Claim 4 (depends on 2) The system according to claim 2, wherein said processor defines said route by optimizing said route to reduce an amount of wire pulls performed by said electrical wire pulling unit. ### Claim 5 (depends on 2) The system according to claim 2, wherein said processor defines said route by taking into account positions of conduit pipe entrances at said construction site. ### Claim 6 (depends on 2) The system according to claim 2, wherein said processor defines said route by taking into account positions of junction box ports at said construction site. ### Claim 7 (depends on 2) The system according to claim 2, wherein said processor defines said route by taking into different types of wires for pulling by said electrical wire pulling unit. ### Claim 8 (depends on 1) The system according to claim 1, wherein said electrical wire pulling unit is configured to manipulate electrical fish tape, or string wire or rope or pulling rope, through a pipe or conduit. ### Claim 9 (depends on 1) The system according to claim 1, further comprising: a plurality of robotic systems, each mounted by a plurality of sensors and SW processors all enabling arm manipulation to automate construction process and/or navigating and/or maneuvering in a construction site; and means to interact with a centralized backend algorithm, which has access to the construction site's digital building plan from which, a route on which the robots must be dropped off, is deduced; and means to display this route to a laborer, walking through the site according to the route, leading the mobile equipment in order to deploy the robots to perform their automated construction task. ### Claim 10 (depends on 9) The system according to claim 9, wherein the robots are not mounted on external mobile equipment but are rather capable of autonomously following a laborer indicating specific landmarks, the robot must identify or reach. ### Claim 11 (depends on 9) The system according to claim 9, wherein the construction task is an action of electrical wire pulling through pre-installed pipes and the electrical spot to be served, which may be a conduit pipe entrance or a junction box port, is located overhead, occluded or positioned near floor level and for this case a dedicated arm manipulator through or along which electrical ‘fish tape’ can be pushed or electrical wire may be pulled, is designed; the electrical wires mentioned above may be electrical power conductors, data cables or other wires to be pulled through pre-installed pipes. ### Claim 12 (depends on 9) The system according to claim 9, wherein the construction task is an action of electrical wire pulling through pre-installed pipes and the electrical spot to be served, which may be a conduit pipe entrance or a junction box port, is located overhead, occluded or positioned near floor level and for this case a robotic arm manipulates electrical ‘fish tape’ in pushing into the pipe or manipulates electrical wire in pulling through the pipe, is utilized; the electrical wires mentioned above may be electrical power conductors, data cables or other wires to be pulled through pre-installed pipes. ### Claim 13 (depends on 12) The system according to claim 12, wherein a plurality of sensors are installed on the arm manipulator in order to present this sensor's data to the laborer who then may guide the robot to the correct and precise spot to be serviced, according to the route plan, by marking landmarks on a 3D image space referenced to the sensor data or manually controlling its maneuver. ### Claim 14 (depends on 13) The system according to claim 13, wherein a gesture recognition system may be used to identify manual maneuvers the laborer may perform, in front of the sensor, which he would want the arm to perform to better access the port to be serviced. ### Claim 15 (depends on 12) The system according to claim 12, wherein a method to identify a specific pipe entrance, from within a bundle of pipes, is required and may be done by installing an acoustic, RF or illuminative device on both tips of the robotic arms, fed in or in proximity to the pipe entrances, on each side of the pipe, and are capable of signaling each other to confirm the correct position of the robots is attained according to the route plan. ### Claim 16 (depends on 12) The system according to claim 12, wherein a method to pull continuous electrical wire through a segmented line of conduit pipe is enabled by an additional robot located near the line's discontinuity point, manipulating electrical fish tape and/or string rope or wire and/or pulling rope and electrical wires.